Swerve Drive encoders not synced

[chadr03]

I have never tried to use the SDS libraries, but it is my understanding they have not been maintained in a few years and it causes issues with the newer versions of WPILib and such.

I think the common recommendation is to either use the WPILib examples
allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand at main · wpilibsuite/allwpilib (github.com)

Use 364 template.

Official SDS MK3 & MK4 Code

This is the most often sighted reference example for what you are asking - https://github.com/Team364/BaseFalconSwerve 3847’s swerve code is based off this 364 repo.

Or try YAGSL

Yet Another Generic Swerve Library (YAGSL) Beta

Hello World! YAGSL is a Generic Swerve Library (AN ACTUAL LIBRARY!) that aims to simplify the process of creating a comprehensive and complete SwerveDrive’s with best practices from MANY SwerveDrive examples. The documentation wiki is here. An example project is here. Library is here. Javadoc are here. Features: Second Order Kinematics with limited state-space estimation. Uses closed-loop PID exclusively. Dashboard for each swerve module. Support for both Falcon’s and Neo’s without chang…